JPS6227689B2 - - Google Patents
Info
- Publication number
- JPS6227689B2 JPS6227689B2 JP54066789A JP6678979A JPS6227689B2 JP S6227689 B2 JPS6227689 B2 JP S6227689B2 JP 54066789 A JP54066789 A JP 54066789A JP 6678979 A JP6678979 A JP 6678979A JP S6227689 B2 JPS6227689 B2 JP S6227689B2
- Authority
- JP
- Japan
- Prior art keywords
- joint
- housing
- light beam
- bearing
- openings
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 230000005540 biological transmission Effects 0.000 claims description 18
- 238000003780 insertion Methods 0.000 claims description 5
- 230000037431 insertion Effects 0.000 claims description 5
- 230000003287 optical effect Effects 0.000 description 8
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
Landscapes
- Light Guides In General And Applications Therefor (AREA)
- Mounting And Adjusting Of Optical Elements (AREA)
- Laser Beam Processing (AREA)
Description
【発明の詳細な説明】
本発明は光線伝達装置用関節装置に関し、特に
レーザ光線伝達装置用関節装置に関するものであ
る。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a joint device for a light beam transmission device, and more particularly to a joint device for a laser beam transmission device.
一般に、光線を任意の位置に自在に導くには反
射鏡を含む関節部を複数個連結させ、その連結部
の少くとも１方に回転機構を具備させた、いわゆ
る多関節反射鏡マニピユレータが採用されてい
る。 Generally, in order to freely guide a light beam to an arbitrary position, a so-called multi-joint reflector manipulator is used, which has a plurality of joints including reflectors connected and at least one of the joints is equipped with a rotation mechanism. ing.
一方、公知のようにレーザ光線はレンズ等によ
つて集光することによつて微少部分（通常0.1〜
0.2mφ）に高密度のエネルギー（通常104〜
109W／cm2）を照射することができる。 On the other hand, as is well known, the laser beam is focused by a lens or the like to collect a small portion (usually 0.1~
0.2mφ) with high density energy (usually 10 4 ~
10 9 W/cm 2 ).
このレーザ光線を利用した加工装置が近年に至
つて実用化され、急速に産業界に普及しつつあ
る。又、せまい場所での溶接等をレーザ光線を用
いて行なう場合には前記光線伝達装置を使用する
ことで可能になる。 Processing devices using this laser beam have been put into practical use in recent years, and are rapidly becoming widespread in industry. Further, when welding in a narrow space using a laser beam, it is possible to perform welding in a narrow place by using the above-mentioned light beam transmission device.
さらには、前述の高密度エネルギーを生体に照
射すれば、その照射部は瞬時に焼灼蒸発され、容
易に生体の切開を遂行できることが知られてい
る。 Furthermore, it is known that if a living body is irradiated with the above-mentioned high-density energy, the irradiated portion will be instantly cauterized and vaporized, making it easy to incise the living body.
このような方式を利用して外科医療器具を構成
したものを通常レーザメスと呼称している。レー
ザメスによる手術を行なうためには、生体の任意
の部位にレーザ光線を伝達させる必要から前記光
線伝達装置を使用するのが一般的である。 A surgical medical instrument constructed using such a method is usually called a laser scalpel. In order to perform surgery using a laser scalpel, it is common to use the above-mentioned light beam transmitting device because it is necessary to transmit the laser beam to any part of the living body.
前述したごとく、光線伝達装置は、反射鏡を含
む関節装置（以下、「関節部」という）を複数
個、直接又は中空パイプを介して順次連結させた
ものである。 As described above, the light beam transmission device is a device in which a plurality of joint devices (hereinafter referred to as "joint parts") including reflectors are successively connected directly or via hollow pipes.
この場合、各関節部には３つの開口部が形成さ
れる。開口部の１つは反射ミラーの挿入口であ
り、他の２つの開口部は光の入射口および出射口
であるとともに、他の関節部又は中空パイプ等と
の連結部を構成する。光線伝達装置が任意の方向
に光を伝達できるためには、前記連結部の少くと
も１つはその光軸のまわりに自在に回転できる機
構を介して連結される必要がある。一般的には、
入射光軸のまわりに、反射鏡が回転するように配
置されるのが通列である。 In this case, three openings are formed in each joint. One of the openings is an insertion port for a reflecting mirror, and the other two openings are a light entrance and a light exit, and also constitute a connecting part with other joints or hollow pipes. In order for the light beam transmission device to be able to transmit light in any direction, at least one of the connecting parts needs to be connected via a mechanism that can freely rotate around its optical axis. In general,
In a series, the reflecting mirrors are arranged so as to rotate around the incident optical axis.
光線伝達装置の自由度が３であれば、即ち、前
記関節部を３個含む場合であれば、一応３次元的
な伝達はできることになる。これ以上の自由度を
持つ必要のある作業内容、作業空間の場合にはそ
れに応じて関節部の個数を増加させればよい。 If the light beam transmission device has three degrees of freedom, that is, if it includes three joints, three-dimensional transmission is possible. If the work content or work space requires a greater degree of freedom, the number of joints may be increased accordingly.
複数の関節部で光線伝達装置を構成する場合に
非常に重要なことは、各関節部における二つの開
口部（入射口および出射口）の中心軸線の交差点
上に、残りの１つの開口部より挿入された反射鏡
面が配置され、かつ入射口および出射口のうち少
くとも１方の開口部に連結された回転機構の回転
中心軸と、当該開口部を通る光軸（入射光軸又は
反射光軸）とが正確に一致していることである。
さらに、中空パイプの一端が軸受の軸又はハウジ
ングに構成され、他端が前記関節部の他の開口部
に連結された場合にも、中空パイプの中心軸と前
記開口部の中心軸が正しく一致するように連結さ
れなければならない。 When configuring a light beam transmission device with multiple joints, it is very important that the center axis of the two openings (inlet and exit ports) in each joint be located on the intersection of the other openings. The rotation center axis of a rotation mechanism in which the inserted reflective mirror surface is arranged and connected to at least one of the entrance and exit ports, and the optical axis (incident optical axis or reflected light axis) passing through the opening axis) must match exactly.
Furthermore, even when one end of the hollow pipe is configured as a shaft of a bearing or a housing, and the other end is connected to another opening of the joint, the central axis of the hollow pipe and the central axis of the opening correctly match. must be concatenated so that
第１図に従来の光線伝達装置を示す。中空パイ
プ１２（または軸受の軸）が関節部Ｂの開口部１
３と、例えばハメ合い結合によつて連結され、ネ
ジによつて開節部Ｂと固定される。関節部Ｂの開
口部１４には反射鏡調整機構３を介して反射鏡４
が配置される。一方関節部Ｂの他の開口部１５に
は軸受ハウジング７がハメ合い結合およびネジに
よつて固定される。 FIG. 1 shows a conventional light beam transmission device. The hollow pipe 12 (or the shaft of the bearing) is connected to the opening 1 of the joint B.
3 by, for example, a fitting connection, and fixed to the open joint part B with a screw. A reflector 4 is connected to the opening 14 of the joint B via the reflector adjustment mechanism 3.
is placed. On the other hand, the bearing housing 7 is fixed to the other opening 15 of the joint B by fitting and screws.
一方、関節部Ａの開口部１７には軸受け軸５が
ハメ合い結合を介してネジによつて固定連結され
ている。関節部Ａの開口部１８には反射鏡調整機
構３を介して反射鏡１９が配置され、開口部１０
にはハウジング（又は中空パイプ）２０がハメ合
い結合を介してネジによつて固定される。 On the other hand, a bearing shaft 5 is fixedly connected to the opening 17 of the joint A by a screw through a fitting connection. A reflecting mirror 19 is arranged in the opening 18 of the joint A via the reflecting mirror adjustment mechanism 3, and the opening 10
A housing (or hollow pipe) 20 is fixed to the housing (or hollow pipe) with screws through a fitting connection.
このような構成において、中空パイプ１２と関
節部Ｂの開口部１３、開口部１５と軸受ハウジン
グ７、軸受軸５と関節部Ａの開口部１７および開
口部１０と軸受ハウジング２０とは、それぞれの
連結時に相互の部品の中心軸を正しく一致させる
必要がある。なぜならば、このような光線伝達装
置においては、連結されている部品の一端（入射
口または出射口側）は必らずその軸のまわりの回
転機構を構成しているために、連結時の軸の狂い
はそれ以降の反射鏡の回転によつて２倍角の狂い
を生じるような光線のズレを生じるからである。 In such a configuration, the hollow pipe 12 and the opening 13 of the joint B, the opening 15 and the bearing housing 7, and the bearing shaft 5 and the opening 17 and the opening 10 of the joint A and the bearing housing 20 are connected to each other. When connecting, it is necessary to correctly align the center axes of the mutual parts. This is because in such a light beam transmission device, one end of the connected parts (the entrance or exit side) always constitutes a rotation mechanism around that axis. This is because the subsequent rotation of the reflecting mirror causes a deviation of the light beam, resulting in a double angle deviation.
それ故、レーザメス装置に必要とされるよう
な、関節部を７個程度も有する光線伝達装置（マ
ニピユレータ）では非常に多くの調整個所があ
り、このため、原理的には光を自在に電達させる
ことが出来る筈であるのに、実際には光が伝達さ
れなかつたり、組立に長時間を要したり、又は高
度の熟練を要したり、調整後にも狂いを生じ易い
などの欠点が存在していたのである。さらには、
一旦組立てを完了したあとでも、機械的シヨツク
を受けた場合、又は使用環境条件の変化による歪
の発生等によつて容易に光軸が狂つてしまい、実
用上多くの欠点を有していた。 Therefore, a light beam transmitting device (manipulator) with as many as seven joints as required for a laser scalpel device has a large number of adjustment points, so in principle it is possible to freely transmit light. However, there are drawbacks such as the fact that light is not transmitted, it takes a long time to assemble, requires a high degree of skill, and it is easy to make mistakes even after adjustment. That's what I was doing. Furthermore,
Even after assembly has been completed, the optical axis is easily deviated due to mechanical shock or distortion due to changes in usage environmental conditions, resulting in many practical drawbacks.
本発明はこのような欠点を解消した光線伝達装
置用関節装置を提供するものである。 The present invention provides a joint device for a light beam transmission device that eliminates these drawbacks.
以下図面に基づいて本発明を詳細に説明する。
第２図には、本発明の一実施例を示す。関節部は
３個の開口部３０，３１，３２を有する一体構造
物で構成されている。例えば、開口部３１には軸
受の軸３４、開口部３０には軸受のハウジング３
３をそれぞれ形成し、又開口部３２には、反射鏡
３６が反射鏡調整機構３５を介して配置される。
ここで、軸受のハウジング３３の中心軸と軸３４
の中心軸とは、正しく反射鏡３６面上で交さする
ように加工調整される。 The present invention will be explained in detail below based on the drawings.
FIG. 2 shows an embodiment of the present invention. The joint part is constructed from a one-piece structure having three openings 30, 31, 32. For example, the opening 31 has the shaft 34 of the bearing, and the opening 30 has the bearing housing 3.
3, and a reflecting mirror 36 is disposed in the opening 32 via a reflecting mirror adjusting mechanism 35.
Here, the central axis of the bearing housing 33 and the shaft 34 are
The center axis of is processed and adjusted so that it intersects correctly on the surface of the reflecting mirror 36.
この関節部の一実施例を見ればただちに、図示
の関節部ではハメ合い結合を要するような機械的
連結機構が除去されており、従つて、光軸の調整
個所が第１図の従来例にくらべて４カ所減少して
いることが理解できるであろう。これは、前述の
ごとく、ハメ合い結合をなすような機械的連結部
が解消されているためである。 If you look at one embodiment of this joint, you will immediately notice that the illustrated joint does not have a mechanical connection mechanism that requires a fitting connection, and therefore the optical axis adjustment points are similar to the conventional example shown in FIG. You can understand that the number of locations has decreased by 4 compared to the previous year. This is because, as mentioned above, the mechanical connection that forms a fitting connection is eliminated.
本発明に好適な関節部の構造として、第２図に
示した関節部の両開口を共に軸受けのハウジン
グ、または軸に構成したものが容易に考えられる
であろう。なお、このような場合、開口部の軸受
けの軸またはハウジングから反射鏡までの距離は
長短任意に選定できることは明らかであろう。 As a structure of the joint part suitable for the present invention, one can easily think of one in which both openings of the joint part shown in FIG. 2 are constructed as a housing of a bearing or a shaft. In such a case, it is clear that the distance from the shaft of the bearing of the opening or the housing to the reflecting mirror can be arbitrarily selected.
一般に、このような装置では関節部相互間を連
結する部材（中空パイプなど）の長さを短かくす
れば、慣性モーメントが減少するために、スムー
スな移動が行なわれ易くなることが知られてい
る。そのため、光線伝達装置の出射口に近い部分
では、第２図に示す関節部を直接回転機構部を介
して連結させることが多い。この場合の構成例を
第３図に示す。 It is generally known that in such devices, if the length of the member (hollow pipe, etc.) that connects the joints is shortened, the moment of inertia will be reduced, making it easier to move smoothly. There is. Therefore, in a portion of the light beam transmission device near the exit, the joints shown in FIG. 2 are often directly connected via a rotation mechanism. An example of the configuration in this case is shown in FIG.
この例で特徴的なことは、ハメ合い結合のよう
な機械的結合部を全く持たないことであり、各々
一体構造物として構成された２つの関節部Ａ，Ｂ
が回転機構部を介して直接連結されていることで
ある。このために、明らかなように、この２つの
関節部の連結構造における調整個所は２つの反射
ミラー３６Ａ，３６Ｂの位置および角度調整のみ
となる。従つて、従来装置（第１図参照）に比較
して調整個所が６ケより２ケに減少することにな
る。なぜならば、第１図ではハメ合い結合をなし
ている個所は４カ所であり、かつ、反射鏡調整個
所を加えると合計６カ所になるのに対し、第２図
の例では反射鏡調整のみの２ケ所であるからであ
る。 What is distinctive about this example is that it does not have any mechanical connections such as fitting connections, and the two joints A and B are each constructed as an integral structure.
are directly connected via the rotation mechanism. Therefore, as is clear, the only adjustment points in the connection structure of the two joints are the position and angle adjustment of the two reflecting mirrors 36A and 36B. Therefore, compared to the conventional device (see FIG. 1), the number of adjustment points is reduced from six to two. This is because in Fig. 1, there are 4 places that are fitted together, and if you add the reflector adjustment points, there are 6 places in total, whereas in the example in Fig. 2, only the reflector adjustment is done. This is because there are two locations.
本発明の他の適用例を第４図に示す。これは従
来公知の関節部と本発明による関節部が中空パイ
プＣを介して連結された例である。関節部Ａは従
来より公知のものであつて、その一端開口部は中
空パイプを固定するハメ合い結合ができるように
加工されている。一方、中空パイプＣの一端部に
は関節部Ａとハメ合い結合するためのフランジ
C1が形成され、他端部には軸受用のハウジング
C2が形成される。この際、中空パイプＣの両端
に形成されたフランジC1およびハウジングC2は
中空パイプと一体構造物でなくてもさしつかえな
いが、なるべくは一体構造物として構成される方
が好ましい。なぜならば、一体構造物としておけ
ば、前述と同様の理由によつて少くとも２ケ所の
調整個所が従来法にくらべて減少するからであ
る。 Another application example of the present invention is shown in FIG. This is an example in which a conventionally known joint and a joint according to the present invention are connected via a hollow pipe C. The joint A is conventionally known, and its opening at one end is processed to allow a fitting connection for fixing a hollow pipe. On the other hand, one end of the hollow pipe C has a flange for fitting and connecting with the joint A.
C 1 is formed, and the other end has a housing for the bearing.
C 2 is formed. In this case, the flange C 1 and the housing C 2 formed at both ends of the hollow pipe C do not have to be an integral structure with the hollow pipe, but it is preferable that they be constructed as an integral structure. This is because if it is made into an integral structure, the number of adjustment points will be reduced by at least two places compared to the conventional method for the same reason as mentioned above.
以上に図示説明したところを要約すれば、本発
明の光線伝達装置用関節装置３個の開口部をもつ
一体構造物に構成され、その開口部の１つを反射
鏡の挿入口とし、他の２つの開口部は、その一方
が軸受のハウジングを構成し、他方がハウジング
内に軸支可能な外形の軸を形成するようにされた
ものであり、これによつて、光線伝達装置の光軸
調整を該当部分における反射鏡の調整のみによつ
て完了し得るようにしたものである。 To summarize what has been illustrated and explained above, the joint device for a light beam transmission device of the present invention is constructed into an integrated structure having three openings, one of which serves as an insertion port for a reflecting mirror, and the other One of the two openings constitutes the housing of the bearing, and the other forms an external shaft that can be supported within the housing, thereby allowing the optical axis of the light beam transmission device to The adjustment can be completed only by adjusting the reflecting mirror in the corresponding part.
このため、調整個所と部品点数の大幅な減少に
よる組立の容易さ、又、機械的な結合部を持たな
いことによる経年変化がないこと、シヨツクに対
する安定性が向上する等の効果が生じる。さら
に、前記関節部、中空パイプが全て同一の材質で
構成されている場合には、熱膨脹係数が同一であ
るため、歪みや変形を受けにくいという利点が期
待できる。各部品の工作上の重要な点は軸受けを
構成する２個の開口部の中心軸線が、反射鏡の調
整範囲内の空間で交差するという条件のみであ
り、現状の工作技術をもつてすれば、特別困難な
加工ではない。 For this reason, there are effects such as ease of assembly due to a significant reduction in the number of adjustment points and parts, no deterioration over time due to the absence of mechanical joints, and improved stability against the shock. Furthermore, when the joint portion and the hollow pipe are all made of the same material, the coefficient of thermal expansion is the same, so an advantage can be expected that they are less susceptible to distortion and deformation. The only important point in machining each part is that the central axes of the two openings that make up the bearing intersect in a space within the adjustment range of the reflector. , it is not a particularly difficult process.
以上本実施例を詳細に説明してきたが、本発明
によつて、従来製作の困難であつた光線伝達装置
なかんずく、多関節反射鏡式マニピユレータの製
作をいちぢるしく容易にし、かつ、部品点数、調
整個所の大幅な減少とあいまつて安定性の高い、
低コストの光線伝達装置を実現できることはレー
ザの多方面にわたる応用範囲をひろげる意味で、
産業界に多大の貢献をもたらすものである。 Although this embodiment has been described in detail above, the present invention significantly facilitates the manufacture of a light beam transmission device, which has been difficult to manufacture in the past, especially an articulated reflector type manipulator, and reduces the number of parts. , highly stable due to a significant reduction in the number of adjustment points,
Being able to create a low-cost optical beam transmission device means expanding the range of applications of lasers in a wide range of fields.
This will make a significant contribution to industry.
第１図は従来の光線伝達装置の関節部の断面
図、第２図は本発明の一実施例の断面図、第３図
および第４図は第２図の関節部の応用例の断面図
である。
３３……軸受ハウジング、３４……軸受軸、３
６……反射鏡。
FIG. 1 is a sectional view of a joint part of a conventional light beam transmission device, FIG. 2 is a sectional view of an embodiment of the present invention, and FIGS. 3 and 4 are sectional views of an application example of the joint part of FIG. 2. It is. 33...Bearing housing, 34...Bearing shaft, 3
6...Reflector.
Claims (1)
２開口とを有する一体構造物であつて、 各開口部は、その一方が軸受のハウジングを形
成し、他方がハウジング内に軸支可能な外形の軸
を形成しており、 前記２開口の中心軸線が前記反射鏡挿入口に装
填された反射鏡上で交点を結ぶように、前記各開
口および挿入口が配置されたことを特徴とする光
線伝達装置用関節装置。[Claims] 1. An integral structure having an insertion opening for a reflecting mirror and two openings for incident light and exiting light, one of which forms a housing of a bearing, and the other of which forms a housing for a bearing. A shaft having an external shape that can be pivotally supported is formed in the housing, and each of the openings and the insertion port are arranged so that the center axes of the two openings intersect on the reflecting mirror loaded in the reflecting mirror insertion port. A joint device for a light beam transmission device, characterized in that:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6678979A JPS55159401A (en) | 1979-05-31 | 1979-05-31 | Ray transmission device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6678979A JPS55159401A (en) | 1979-05-31 | 1979-05-31 | Ray transmission device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS55159401A JPS55159401A (en) | 1980-12-11 |
| JPS6227689B2 true JPS6227689B2 (en) | 1987-06-16 |
Family
ID=13325971
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP6678979A Granted JPS55159401A (en) | 1979-05-31 | 1979-05-31 | Ray transmission device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS55159401A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0193088U (en) * | 1987-12-11 | 1989-06-19 | ||
| JPH0388581U (en) * | 1989-12-27 | 1991-09-10 | ||
| JPH03104385U (en) * | 1990-02-15 | 1991-10-29 | ||
| JP2732195B2 (en) * | 1993-06-04 | 1998-03-25 | 株式会社エース電研 | Slot machine |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS591580U (en) * | 1982-06-28 | 1984-01-07 | 新明和工業株式会社 | Articulated robot for laser beam |
| JP2659934B2 (en) * | 1986-02-26 | 1997-09-30 | 日本原子力研究所 | Flexible waveguide |
| JPH0522893Y2 (en) * | 1986-09-22 | 1993-06-11 | ||
| US5096353A (en) * | 1990-07-27 | 1992-03-17 | Motorola, Inc. | Vision system for a robotic station |
| US5452137A (en) * | 1993-04-05 | 1995-09-19 | Litton Systems Inc. | Extenders for reflective optical path segments |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4871248A (en) * | 1971-12-27 | 1973-09-27 |
-
1979
- 1979-05-31 JP JP6678979A patent/JPS55159401A/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4871248A (en) * | 1971-12-27 | 1973-09-27 |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0193088U (en) * | 1987-12-11 | 1989-06-19 | ||
| JPH0388581U (en) * | 1989-12-27 | 1991-09-10 | ||
| JPH03104385U (en) * | 1990-02-15 | 1991-10-29 | ||
| JP2732195B2 (en) * | 1993-06-04 | 1998-03-25 | 株式会社エース電研 | Slot machine |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS55159401A (en) | 1980-12-11 |
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